5 papers
Egocentric Tactile and Proximity Sensors as Observation Priors for Humanoid Collision Avoidance
Carson Kohlbrenner, Niraj Pudasaini, William Xie +3
Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. Howe…
Characterization, Analytical Planning, and Hybrid Force Control for the Inspire RH56DFX Hand
Xuan Tan, William Xie, Nikolaus Correll
Commercially accessible dexterous robot hands are increasingly prevalent, but many remain difficult to use as scientific instruments. For example, the Inspire RH56DFX hand exposes…
On the Dual-Use Dilemma in Physical Reasoning and Force
William Xie, Enora Rice, Nikolaus Correll
Humans learn how and when to apply forces in the world via a complex physiological and psychological learning process. Attempting to replicate this in vision-language models (VLMs)…
Unfettered Forceful Skill Acquisition with Physical Reasoning and Coordinate Frame Labeling
William Xie, Max Conway, Yutong Zhang +1
Vision language models (VLMs) exhibit vast knowledge of the physical world, including intuition of physical and spatial properties, affordances, and motion. With fine-tuning, VLMs…
Towards Forceful Robotic Foundation Models: a Literature Survey
William Xie, Nikolaus Correll
This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning. We conduct a comparative…